Online dynamic-model recognition for dynamically positioning vessel by dynamic effect
动力学效应的动力定位船舶模型在线辨识算法

Due to the nonlinearity in a vessel model, and the immeasurable disturbance force as well as thruster forces, it is difficult to recognize the vessel model online. An online vessel-model-recognition algorithm based on unscented Kalman filters(UKF) and dynamic effect is proposed. By solving the vessel model associated with external loading forces during dynamical positioning, this algorithm continuously generates the dynamic effect which approaches the sensor feedback. Based on this principle, an effective and adaptive position control can be performed by the nominal vessel model, external and thruster forces. Simulation results in position control validate the effectiveness of the proposed algorithm.